DARC: Next generation decentralized control framework for robot applications

Author

Kjærgaard, Morten ; Andersen, Nils Axel ; Ravn, Ole

Author_Institution

DTU Electr. Eng., Tech. Univ. of Denmark, Lyngby, Denmark

fYear

2013

fDate

12-14 June 2013

Firstpage

1598

Lastpage

1602

Abstract

This paper presents DARC, a next generation control framework for robot applications. It is designed to be equally powerful in prototyping research projects and for building serious commercial robots running on low powered embedded hardware, thus closing the gab between research and industry. It incorporates several new techniques such as a decentralized peer-to-peer architecture, transparent network distribution of the control system, and automatic run-time supervision to guarantee robustness.

Keywords

decentralised control; low-power electronics; peer-to-peer computing; robots; robust control; DARC; automatic run-time supervision; control system; decentralized peer-to-peer architecture; low powered embedded hardware; next generation decentralized control framework; robot application; robustness; serious commercial robot; transparent network distribution; Control systems; Data models; Libraries; Peer-to-peer computing; Real-time systems; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (ICCA), 2013 10th IEEE International Conference on

Conference_Location

Hangzhou

ISSN

1948-3449

Print_ISBN

978-1-4673-4707-5

Type

conf

DOI

10.1109/ICCA.2013.6565134

Filename

6565134